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2105 lines
93 KiB
C++
2105 lines
93 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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#ifndef __OPENCV_OCL_HPP__
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#define __OPENCV_OCL_HPP__
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#include <memory>
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#include <vector>
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#include "opencv2/core.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/objdetect.hpp"
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#include "opencv2/ml.hpp"
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namespace cv
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{
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namespace ocl
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{
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enum DeviceType
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{
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CVCL_DEVICE_TYPE_DEFAULT = (1 << 0),
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CVCL_DEVICE_TYPE_CPU = (1 << 1),
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CVCL_DEVICE_TYPE_GPU = (1 << 2),
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CVCL_DEVICE_TYPE_ACCELERATOR = (1 << 3),
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//CVCL_DEVICE_TYPE_CUSTOM = (1 << 4)
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CVCL_DEVICE_TYPE_ALL = 0xFFFFFFFF
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};
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enum DevMemRW
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{
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DEVICE_MEM_R_W = 0,
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DEVICE_MEM_R_ONLY,
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DEVICE_MEM_W_ONLY
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};
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enum DevMemType
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{
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DEVICE_MEM_DEFAULT = 0,
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DEVICE_MEM_AHP, //alloc host pointer
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DEVICE_MEM_UHP, //use host pointer
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DEVICE_MEM_CHP, //copy host pointer
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DEVICE_MEM_PM //persistent memory
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};
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// these classes contain OpenCL runtime information
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struct PlatformInfo;
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struct DeviceInfo
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{
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public:
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int _id; // reserved, don't use it
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DeviceType deviceType;
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std::string deviceProfile;
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std::string deviceVersion;
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std::string deviceName;
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std::string deviceVendor;
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int deviceVendorId;
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std::string deviceDriverVersion;
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std::string deviceExtensions;
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size_t maxWorkGroupSize;
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std::vector<size_t> maxWorkItemSizes;
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int maxComputeUnits;
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size_t localMemorySize;
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size_t maxMemAllocSize;
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int deviceVersionMajor;
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int deviceVersionMinor;
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bool haveDoubleSupport;
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bool isUnifiedMemory; // 1 means integrated GPU, otherwise this value is 0
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bool isIntelDevice;
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std::string compilationExtraOptions;
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const PlatformInfo* platform;
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DeviceInfo();
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~DeviceInfo();
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};
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struct PlatformInfo
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{
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int _id; // reserved, don't use it
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std::string platformProfile;
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std::string platformVersion;
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std::string platformName;
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std::string platformVendor;
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std::string platformExtensons;
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int platformVersionMajor;
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int platformVersionMinor;
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std::vector<const DeviceInfo*> devices;
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PlatformInfo();
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~PlatformInfo();
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};
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//////////////////////////////// Initialization & Info ////////////////////////
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typedef std::vector<const PlatformInfo*> PlatformsInfo;
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CV_EXPORTS int getOpenCLPlatforms(PlatformsInfo& platforms);
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typedef std::vector<const DeviceInfo*> DevicesInfo;
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CV_EXPORTS int getOpenCLDevices(DevicesInfo& devices, int deviceType = CVCL_DEVICE_TYPE_GPU,
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const PlatformInfo* platform = NULL);
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// set device you want to use
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CV_EXPORTS void setDevice(const DeviceInfo* info);
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// Initialize from OpenCL handles directly.
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// Argument types is (pointers): cl_platform_id*, cl_context*, cl_device_id*
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CV_EXPORTS void initializeContext(void* pClPlatform, void* pClContext, void* pClDevice);
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enum FEATURE_TYPE
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{
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FEATURE_CL_DOUBLE = 1,
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FEATURE_CL_UNIFIED_MEM,
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FEATURE_CL_VER_1_2,
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FEATURE_CL_INTEL_DEVICE
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};
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// Represents OpenCL context, interface
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class CV_EXPORTS Context
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{
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protected:
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Context() { }
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~Context() { }
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public:
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static Context *getContext();
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bool supportsFeature(FEATURE_TYPE featureType) const;
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const DeviceInfo& getDeviceInfo() const;
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const void* getOpenCLContextPtr() const;
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const void* getOpenCLCommandQueuePtr() const;
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const void* getOpenCLDeviceIDPtr() const;
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};
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inline const void *getClContextPtr()
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{
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return Context::getContext()->getOpenCLContextPtr();
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}
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inline const void *getClCommandQueuePtr()
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{
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return Context::getContext()->getOpenCLCommandQueuePtr();
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}
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CV_EXPORTS bool supportsFeature(FEATURE_TYPE featureType);
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CV_EXPORTS void finish();
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enum BINARY_CACHE_MODE
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{
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CACHE_NONE = 0, // do not cache OpenCL binary
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CACHE_DEBUG = 0x1 << 0, // cache OpenCL binary when built in debug mode
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CACHE_RELEASE = 0x1 << 1, // default behavior, only cache when built in release mode
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CACHE_ALL = CACHE_DEBUG | CACHE_RELEASE, // cache opencl binary
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};
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//! Enable or disable OpenCL program binary caching onto local disk
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// After a program (*.cl files in opencl/ folder) is built at runtime, we allow the
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// compiled OpenCL program to be cached to the path automatically as "path/*.clb"
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// binary file, which will be reused when the OpenCV executable is started again.
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//
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// This feature is enabled by default.
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CV_EXPORTS void setBinaryDiskCache(int mode = CACHE_RELEASE, cv::String path = "./");
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//! set where binary cache to be saved to
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CV_EXPORTS void setBinaryPath(const char *path);
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struct ProgramSource
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{
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const char* name;
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const char* programStr;
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const char* programHash;
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// Cache in memory by name (should be unique). Caching on disk disabled.
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inline ProgramSource(const char* _name, const char* _programStr)
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: name(_name), programStr(_programStr), programHash(NULL)
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{
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}
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// Cache in memory by name (should be unique). Caching on disk uses programHash mark.
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inline ProgramSource(const char* _name, const char* _programStr, const char* _programHash)
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: name(_name), programStr(_programStr), programHash(_programHash)
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{
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}
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};
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//! Calls OpenCL kernel. Pass globalThreads = NULL, and cleanUp = true, to finally clean-up without executing.
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//! Deprecated, will be replaced
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CV_EXPORTS void openCLExecuteKernelInterop(Context *clCxt,
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const cv::ocl::ProgramSource& source, String kernelName,
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size_t globalThreads[3], size_t localThreads[3],
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std::vector< std::pair<size_t, const void *> > &args,
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int channels, int depth, const char *build_options);
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class CV_EXPORTS oclMatExpr;
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//////////////////////////////// oclMat ////////////////////////////////
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class CV_EXPORTS oclMat
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{
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public:
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//! default constructor
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oclMat();
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//! constructs oclMatrix of the specified size and type (_type is CV_8UC1, CV_64FC3, CV_32SC(12) etc.)
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oclMat(int rows, int cols, int type);
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oclMat(Size size, int type);
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//! constucts oclMatrix and fills it with the specified value _s.
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oclMat(int rows, int cols, int type, const Scalar &s);
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oclMat(Size size, int type, const Scalar &s);
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//! copy constructor
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oclMat(const oclMat &m);
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//! constructor for oclMatrix headers pointing to user-allocated data
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oclMat(int rows, int cols, int type, void *data, size_t step = Mat::AUTO_STEP);
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oclMat(Size size, int type, void *data, size_t step = Mat::AUTO_STEP);
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//! creates a matrix header for a part of the bigger matrix
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oclMat(const oclMat &m, const Range &rowRange, const Range &colRange);
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oclMat(const oclMat &m, const Rect &roi);
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//! builds oclMat from Mat. Perfom blocking upload to device.
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explicit oclMat (const Mat &m);
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//! destructor - calls release()
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~oclMat();
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//! assignment operators
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oclMat &operator = (const oclMat &m);
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//! assignment operator. Perfom blocking upload to device.
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oclMat &operator = (const Mat &m);
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oclMat &operator = (const oclMatExpr& expr);
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//! pefroms blocking upload data to oclMat.
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void upload(const cv::Mat &m);
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//! downloads data from device to host memory. Blocking calls.
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operator Mat() const;
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void download(cv::Mat &m) const;
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//! convert to _InputArray
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operator _InputArray();
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//! convert to _OutputArray
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operator _OutputArray();
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//! returns a new oclMatrix header for the specified row
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oclMat row(int y) const;
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//! returns a new oclMatrix header for the specified column
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oclMat col(int x) const;
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//! ... for the specified row span
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oclMat rowRange(int startrow, int endrow) const;
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oclMat rowRange(const Range &r) const;
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//! ... for the specified column span
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oclMat colRange(int startcol, int endcol) const;
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oclMat colRange(const Range &r) const;
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//! returns deep copy of the oclMatrix, i.e. the data is copied
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oclMat clone() const;
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//! copies those oclMatrix elements to "m" that are marked with non-zero mask elements.
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// It calls m.create(this->size(), this->type()).
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// It supports any data type
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void copyTo( oclMat &m, const oclMat &mask = oclMat()) const;
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//! converts oclMatrix to another datatype with optional scalng. See cvConvertScale.
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void convertTo( oclMat &m, int rtype, double alpha = 1, double beta = 0 ) const;
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void assignTo( oclMat &m, int type = -1 ) const;
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//! sets every oclMatrix element to s
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oclMat& operator = (const Scalar &s);
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//! sets some of the oclMatrix elements to s, according to the mask
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oclMat& setTo(const Scalar &s, const oclMat &mask = oclMat());
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//! creates alternative oclMatrix header for the same data, with different
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// number of channels and/or different number of rows. see cvReshape.
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oclMat reshape(int cn, int rows = 0) const;
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//! allocates new oclMatrix data unless the oclMatrix already has specified size and type.
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// previous data is unreferenced if needed.
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void create(int rows, int cols, int type);
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void create(Size size, int type);
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//! allocates new oclMatrix with specified device memory type.
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void createEx(int rows, int cols, int type,
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DevMemRW rw_type, DevMemType mem_type);
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void createEx(Size size, int type, DevMemRW rw_type,
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DevMemType mem_type);
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//! decreases reference counter;
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// deallocate the data when reference counter reaches 0.
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void release();
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//! swaps with other smart pointer
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void swap(oclMat &mat);
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//! locates oclMatrix header within a parent oclMatrix. See below
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void locateROI( Size &wholeSize, Point &ofs ) const;
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//! moves/resizes the current oclMatrix ROI inside the parent oclMatrix.
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oclMat& adjustROI( int dtop, int dbottom, int dleft, int dright );
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//! extracts a rectangular sub-oclMatrix
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// (this is a generalized form of row, rowRange etc.)
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oclMat operator()( Range rowRange, Range colRange ) const;
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oclMat operator()( const Rect &roi ) const;
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oclMat& operator+=( const oclMat& m );
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oclMat& operator-=( const oclMat& m );
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oclMat& operator*=( const oclMat& m );
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oclMat& operator/=( const oclMat& m );
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//! returns true if the oclMatrix data is continuous
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// (i.e. when there are no gaps between successive rows).
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// similar to CV_IS_oclMat_CONT(cvoclMat->type)
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bool isContinuous() const;
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//! returns element size in bytes,
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// similar to CV_ELEM_SIZE(cvMat->type)
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size_t elemSize() const;
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//! returns the size of element channel in bytes.
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size_t elemSize1() const;
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//! returns element type, similar to CV_MAT_TYPE(cvMat->type)
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int type() const;
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//! returns element type, i.e. 8UC3 returns 8UC4 because in ocl
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//! 3 channels element actually use 4 channel space
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int ocltype() const;
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//! returns element type, similar to CV_MAT_DEPTH(cvMat->type)
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int depth() const;
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//! returns element type, similar to CV_MAT_CN(cvMat->type)
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int channels() const;
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//! returns element type, return 4 for 3 channels element,
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//!becuase 3 channels element actually use 4 channel space
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int oclchannels() const;
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//! returns step/elemSize1()
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size_t step1() const;
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//! returns oclMatrix size:
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// width == number of columns, height == number of rows
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Size size() const;
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//! returns true if oclMatrix data is NULL
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bool empty() const;
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//! matrix transposition
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oclMat t() const;
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/*! includes several bit-fields:
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- the magic signature
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- continuity flag
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- depth
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- number of channels
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*/
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int flags;
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//! the number of rows and columns
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int rows, cols;
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//! a distance between successive rows in bytes; includes the gap if any
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size_t step;
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//! pointer to the data(OCL memory object)
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uchar *data;
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//! pointer to the reference counter;
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// when oclMatrix points to user-allocated data, the pointer is NULL
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int *refcount;
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//! helper fields used in locateROI and adjustROI
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//datastart and dataend are not used in current version
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uchar *datastart;
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uchar *dataend;
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//! OpenCL context associated with the oclMat object.
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Context *clCxt; // TODO clCtx
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//add offset for handle ROI, calculated in byte
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int offset;
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//add wholerows and wholecols for the whole matrix, datastart and dataend are no longer used
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int wholerows;
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int wholecols;
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};
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// convert InputArray/OutputArray to oclMat references
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CV_EXPORTS oclMat& getOclMatRef(InputArray src);
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CV_EXPORTS oclMat& getOclMatRef(OutputArray src);
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///////////////////// mat split and merge /////////////////////////////////
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//! Compose a multi-channel array from several single-channel arrays
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// Support all types
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CV_EXPORTS void merge(const oclMat *src, size_t n, oclMat &dst);
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CV_EXPORTS void merge(const std::vector<oclMat> &src, oclMat &dst);
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//! Divides multi-channel array into several single-channel arrays
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// Support all types
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CV_EXPORTS void split(const oclMat &src, oclMat *dst);
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CV_EXPORTS void split(const oclMat &src, std::vector<oclMat> &dst);
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////////////////////////////// Arithmetics ///////////////////////////////////
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//! adds one matrix to another with scale (dst = src1 * alpha + src2 * beta + gama)
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// supports all data types
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CV_EXPORTS void addWeighted(const oclMat &src1, double alpha, const oclMat &src2, double beta, double gama, oclMat &dst);
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//! adds one matrix to another (dst = src1 + src2)
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// supports all data types
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CV_EXPORTS void add(const oclMat &src1, const oclMat &src2, oclMat &dst, const oclMat &mask = oclMat());
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//! adds scalar to a matrix (dst = src1 + s)
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// supports all data types
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CV_EXPORTS void add(const oclMat &src1, const Scalar &s, oclMat &dst, const oclMat &mask = oclMat());
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//! subtracts one matrix from another (dst = src1 - src2)
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// supports all data types
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CV_EXPORTS void subtract(const oclMat &src1, const oclMat &src2, oclMat &dst, const oclMat &mask = oclMat());
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//! subtracts scalar from a matrix (dst = src1 - s)
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// supports all data types
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CV_EXPORTS void subtract(const oclMat &src1, const Scalar &s, oclMat &dst, const oclMat &mask = oclMat());
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//! computes element-wise product of the two arrays (dst = src1 * scale * src2)
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// supports all data types
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CV_EXPORTS void multiply(const oclMat &src1, const oclMat &src2, oclMat &dst, double scale = 1);
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//! multiplies matrix to a number (dst = scalar * src)
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// supports all data types
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CV_EXPORTS void multiply(double scalar, const oclMat &src, oclMat &dst);
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//! computes element-wise quotient of the two arrays (dst = src1 * scale / src2)
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// supports all data types
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CV_EXPORTS void divide(const oclMat &src1, const oclMat &src2, oclMat &dst, double scale = 1);
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//! computes element-wise quotient of the two arrays (dst = scale / src)
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// supports all data types
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CV_EXPORTS void divide(double scale, const oclMat &src1, oclMat &dst);
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//! computes element-wise minimum of the two arrays (dst = min(src1, src2))
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// supports all data types
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CV_EXPORTS void min(const oclMat &src1, const oclMat &src2, oclMat &dst);
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//! computes element-wise maximum of the two arrays (dst = max(src1, src2))
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// supports all data types
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CV_EXPORTS void max(const oclMat &src1, const oclMat &src2, oclMat &dst);
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//! compares elements of two arrays (dst = src1 <cmpop> src2)
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// supports all data types
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CV_EXPORTS void compare(const oclMat &src1, const oclMat &src2, oclMat &dst, int cmpop);
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//! transposes the matrix
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// supports all data types
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CV_EXPORTS void transpose(const oclMat &src, oclMat &dst);
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//! computes element-wise absolute values of an array (dst = abs(src))
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// supports all data types
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CV_EXPORTS void abs(const oclMat &src, oclMat &dst);
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//! computes element-wise absolute difference of two arrays (dst = abs(src1 - src2))
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// supports all data types
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CV_EXPORTS void absdiff(const oclMat &src1, const oclMat &src2, oclMat &dst);
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//! computes element-wise absolute difference of array and scalar (dst = abs(src1 - s))
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// supports all data types
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CV_EXPORTS void absdiff(const oclMat &src1, const Scalar &s, oclMat &dst);
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//! computes mean value and standard deviation of all or selected array elements
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// supports all data types
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CV_EXPORTS void meanStdDev(const oclMat &mtx, Scalar &mean, Scalar &stddev);
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//! computes norm of array
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// supports NORM_INF, NORM_L1, NORM_L2
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// supports all data types
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CV_EXPORTS double norm(const oclMat &src1, int normType = NORM_L2);
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//! computes norm of the difference between two arrays
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// supports NORM_INF, NORM_L1, NORM_L2
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// supports all data types
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CV_EXPORTS double norm(const oclMat &src1, const oclMat &src2, int normType = NORM_L2);
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//! reverses the order of the rows, columns or both in a matrix
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// supports all types
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CV_EXPORTS void flip(const oclMat &src, oclMat &dst, int flipCode);
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//! computes sum of array elements
|
|
// support all types
|
|
CV_EXPORTS Scalar sum(const oclMat &m);
|
|
CV_EXPORTS Scalar absSum(const oclMat &m);
|
|
CV_EXPORTS Scalar sqrSum(const oclMat &m);
|
|
|
|
//! finds global minimum and maximum array elements and returns their values
|
|
// support all C1 types
|
|
CV_EXPORTS void minMax(const oclMat &src, double *minVal, double *maxVal = 0, const oclMat &mask = oclMat());
|
|
|
|
//! finds global minimum and maximum array elements and returns their values with locations
|
|
// support all C1 types
|
|
CV_EXPORTS void minMaxLoc(const oclMat &src, double *minVal, double *maxVal = 0, Point *minLoc = 0, Point *maxLoc = 0,
|
|
const oclMat &mask = oclMat());
|
|
|
|
//! counts non-zero array elements
|
|
// support all types
|
|
CV_EXPORTS int countNonZero(const oclMat &src);
|
|
|
|
//! transforms 8-bit unsigned integers using lookup table: dst(i)=lut(src(i))
|
|
// destination array will have the depth type as lut and the same channels number as source
|
|
//It supports 8UC1 8UC4 only
|
|
CV_EXPORTS void LUT(const oclMat &src, const oclMat &lut, oclMat &dst);
|
|
|
|
//! only 8UC1 and 256 bins is supported now
|
|
CV_EXPORTS void calcHist(const oclMat &mat_src, oclMat &mat_hist);
|
|
//! only 8UC1 and 256 bins is supported now
|
|
CV_EXPORTS void equalizeHist(const oclMat &mat_src, oclMat &mat_dst);
|
|
|
|
//! only 8UC1 is supported now
|
|
CV_EXPORTS Ptr<cv::CLAHE> createCLAHE(double clipLimit = 40.0, Size tileGridSize = Size(8, 8));
|
|
|
|
//! bilateralFilter
|
|
// supports 8UC1 8UC4
|
|
CV_EXPORTS void bilateralFilter(const oclMat& src, oclMat& dst, int d, double sigmaColor, double sigmaSpace, int borderType=BORDER_DEFAULT);
|
|
|
|
//! Applies an adaptive bilateral filter to the input image
|
|
// Unlike the usual bilateral filter that uses fixed value for sigmaColor,
|
|
// the adaptive version calculates the local variance in he ksize neighborhood
|
|
// and use this as sigmaColor, for the value filtering. However, the local standard deviation is
|
|
// clamped to the maxSigmaColor.
|
|
// supports 8UC1, 8UC3
|
|
CV_EXPORTS void adaptiveBilateralFilter(const oclMat& src, oclMat& dst, Size ksize, double sigmaSpace, double maxSigmaColor=20.0, Point anchor = Point(-1, -1), int borderType=BORDER_DEFAULT);
|
|
|
|
//! computes exponent of each matrix element (dst = e**src)
|
|
// supports only CV_32FC1, CV_64FC1 type
|
|
CV_EXPORTS void exp(const oclMat &src, oclMat &dst);
|
|
|
|
//! computes natural logarithm of absolute value of each matrix element: dst = log(abs(src))
|
|
// supports only CV_32FC1, CV_64FC1 type
|
|
CV_EXPORTS void log(const oclMat &src, oclMat &dst);
|
|
|
|
//! computes square root of each matrix element
|
|
// supports only CV_32FC1, CV_64FC1 type
|
|
CV_EXPORTS void sqrt(const oclMat &src, oclMat &dst);
|
|
|
|
//! computes magnitude of each (x(i), y(i)) vector
|
|
// supports only CV_32F, CV_64F type
|
|
CV_EXPORTS void magnitude(const oclMat &x, const oclMat &y, oclMat &magnitude);
|
|
|
|
//! computes angle (angle(i)) of each (x(i), y(i)) vector
|
|
// supports only CV_32F, CV_64F type
|
|
CV_EXPORTS void phase(const oclMat &x, const oclMat &y, oclMat &angle, bool angleInDegrees = false);
|
|
|
|
//! the function raises every element of tne input array to p
|
|
// support only CV_32F, CV_64F type
|
|
CV_EXPORTS void pow(const oclMat &x, double p, oclMat &y);
|
|
|
|
//! converts Cartesian coordinates to polar
|
|
// supports only CV_32F CV_64F type
|
|
CV_EXPORTS void cartToPolar(const oclMat &x, const oclMat &y, oclMat &magnitude, oclMat &angle, bool angleInDegrees = false);
|
|
|
|
//! converts polar coordinates to Cartesian
|
|
// supports only CV_32F CV_64F type
|
|
CV_EXPORTS void polarToCart(const oclMat &magnitude, const oclMat &angle, oclMat &x, oclMat &y, bool angleInDegrees = false);
|
|
|
|
//! perfroms per-elements bit-wise inversion
|
|
// supports all types
|
|
CV_EXPORTS void bitwise_not(const oclMat &src, oclMat &dst);
|
|
|
|
//! calculates per-element bit-wise disjunction of two arrays
|
|
// supports all types
|
|
CV_EXPORTS void bitwise_or(const oclMat &src1, const oclMat &src2, oclMat &dst, const oclMat &mask = oclMat());
|
|
CV_EXPORTS void bitwise_or(const oclMat &src1, const Scalar &s, oclMat &dst, const oclMat &mask = oclMat());
|
|
|
|
//! calculates per-element bit-wise conjunction of two arrays
|
|
// supports all types
|
|
CV_EXPORTS void bitwise_and(const oclMat &src1, const oclMat &src2, oclMat &dst, const oclMat &mask = oclMat());
|
|
CV_EXPORTS void bitwise_and(const oclMat &src1, const Scalar &s, oclMat &dst, const oclMat &mask = oclMat());
|
|
|
|
//! calculates per-element bit-wise "exclusive or" operation
|
|
// supports all types
|
|
CV_EXPORTS void bitwise_xor(const oclMat &src1, const oclMat &src2, oclMat &dst, const oclMat &mask = oclMat());
|
|
CV_EXPORTS void bitwise_xor(const oclMat &src1, const Scalar &s, oclMat &dst, const oclMat &mask = oclMat());
|
|
|
|
//! Logical operators
|
|
CV_EXPORTS oclMat operator ~ (const oclMat &);
|
|
CV_EXPORTS oclMat operator | (const oclMat &, const oclMat &);
|
|
CV_EXPORTS oclMat operator & (const oclMat &, const oclMat &);
|
|
CV_EXPORTS oclMat operator ^ (const oclMat &, const oclMat &);
|
|
|
|
|
|
//! Mathematics operators
|
|
CV_EXPORTS oclMatExpr operator + (const oclMat &src1, const oclMat &src2);
|
|
CV_EXPORTS oclMatExpr operator - (const oclMat &src1, const oclMat &src2);
|
|
CV_EXPORTS oclMatExpr operator * (const oclMat &src1, const oclMat &src2);
|
|
CV_EXPORTS oclMatExpr operator / (const oclMat &src1, const oclMat &src2);
|
|
|
|
struct CV_EXPORTS ConvolveBuf
|
|
{
|
|
Size result_size;
|
|
Size block_size;
|
|
Size user_block_size;
|
|
Size dft_size;
|
|
|
|
oclMat image_spect, templ_spect, result_spect;
|
|
oclMat image_block, templ_block, result_data;
|
|
|
|
void create(Size image_size, Size templ_size);
|
|
static Size estimateBlockSize(Size result_size, Size templ_size);
|
|
};
|
|
|
|
//! computes convolution of two images, may use discrete Fourier transform
|
|
// support only CV_32FC1 type
|
|
CV_EXPORTS void convolve(const oclMat &image, const oclMat &temp1, oclMat &result, bool ccorr = false);
|
|
CV_EXPORTS void convolve(const oclMat &image, const oclMat &temp1, oclMat &result, bool ccorr, ConvolveBuf& buf);
|
|
|
|
//! Performs a per-element multiplication of two Fourier spectrums.
|
|
//! Only full (not packed) CV_32FC2 complex spectrums in the interleaved format are supported for now.
|
|
//! support only CV_32FC2 type
|
|
CV_EXPORTS void mulSpectrums(const oclMat &a, const oclMat &b, oclMat &c, int flags, float scale, bool conjB = false);
|
|
|
|
CV_EXPORTS void cvtColor(const oclMat &src, oclMat &dst, int code, int dcn = 0);
|
|
|
|
//! initializes a scaled identity matrix
|
|
CV_EXPORTS void setIdentity(oclMat& src, const Scalar & val = Scalar(1));
|
|
|
|
//! fills the output array with repeated copies of the input array
|
|
CV_EXPORTS void repeat(const oclMat & src, int ny, int nx, oclMat & dst);
|
|
|
|
//////////////////////////////// Filter Engine ////////////////////////////////
|
|
|
|
/*!
|
|
The Base Class for 1D or Row-wise Filters
|
|
|
|
This is the base class for linear or non-linear filters that process 1D data.
|
|
In particular, such filters are used for the "horizontal" filtering parts in separable filters.
|
|
*/
|
|
class CV_EXPORTS BaseRowFilter_GPU
|
|
{
|
|
public:
|
|
BaseRowFilter_GPU(int ksize_, int anchor_, int bordertype_) : ksize(ksize_), anchor(anchor_), bordertype(bordertype_) {}
|
|
virtual ~BaseRowFilter_GPU() {}
|
|
virtual void operator()(const oclMat &src, oclMat &dst) = 0;
|
|
int ksize, anchor, bordertype;
|
|
};
|
|
|
|
/*!
|
|
The Base Class for Column-wise Filters
|
|
|
|
This is the base class for linear or non-linear filters that process columns of 2D arrays.
|
|
Such filters are used for the "vertical" filtering parts in separable filters.
|
|
*/
|
|
class CV_EXPORTS BaseColumnFilter_GPU
|
|
{
|
|
public:
|
|
BaseColumnFilter_GPU(int ksize_, int anchor_, int bordertype_) : ksize(ksize_), anchor(anchor_), bordertype(bordertype_) {}
|
|
virtual ~BaseColumnFilter_GPU() {}
|
|
virtual void operator()(const oclMat &src, oclMat &dst) = 0;
|
|
int ksize, anchor, bordertype;
|
|
};
|
|
|
|
/*!
|
|
The Base Class for Non-Separable 2D Filters.
|
|
|
|
This is the base class for linear or non-linear 2D filters.
|
|
*/
|
|
class CV_EXPORTS BaseFilter_GPU
|
|
{
|
|
public:
|
|
BaseFilter_GPU(const Size &ksize_, const Point &anchor_, const int &borderType_)
|
|
: ksize(ksize_), anchor(anchor_), borderType(borderType_) {}
|
|
virtual ~BaseFilter_GPU() {}
|
|
virtual void operator()(const oclMat &src, oclMat &dst) = 0;
|
|
Size ksize;
|
|
Point anchor;
|
|
int borderType;
|
|
};
|
|
|
|
/*!
|
|
The Base Class for Filter Engine.
|
|
|
|
The class can be used to apply an arbitrary filtering operation to an image.
|
|
It contains all the necessary intermediate buffers.
|
|
*/
|
|
class CV_EXPORTS FilterEngine_GPU
|
|
{
|
|
public:
|
|
virtual ~FilterEngine_GPU() {}
|
|
|
|
virtual void apply(const oclMat &src, oclMat &dst, Rect roi = Rect(0, 0, -1, -1)) = 0;
|
|
};
|
|
|
|
//! returns the non-separable filter engine with the specified filter
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createFilter2D_GPU(const Ptr<BaseFilter_GPU> filter2D);
|
|
|
|
//! returns the primitive row filter with the specified kernel
|
|
CV_EXPORTS Ptr<BaseRowFilter_GPU> getLinearRowFilter_GPU(int srcType, int bufType, const Mat &rowKernel,
|
|
int anchor = -1, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! returns the primitive column filter with the specified kernel
|
|
CV_EXPORTS Ptr<BaseColumnFilter_GPU> getLinearColumnFilter_GPU(int bufType, int dstType, const Mat &columnKernel,
|
|
int anchor = -1, int bordertype = BORDER_DEFAULT, double delta = 0.0);
|
|
|
|
//! returns the separable linear filter engine
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createSeparableLinearFilter_GPU(int srcType, int dstType, const Mat &rowKernel,
|
|
const Mat &columnKernel, const Point &anchor = Point(-1, -1), double delta = 0.0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! returns the separable filter engine with the specified filters
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createSeparableFilter_GPU(const Ptr<BaseRowFilter_GPU> &rowFilter,
|
|
const Ptr<BaseColumnFilter_GPU> &columnFilter);
|
|
|
|
//! returns the Gaussian filter engine
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createGaussianFilter_GPU(int type, Size ksize, double sigma1, double sigma2 = 0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! returns filter engine for the generalized Sobel operator
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createDerivFilter_GPU( int srcType, int dstType, int dx, int dy, int ksize, int borderType = BORDER_DEFAULT );
|
|
|
|
//! applies Laplacian operator to the image
|
|
// supports only ksize = 1 and ksize = 3
|
|
CV_EXPORTS void Laplacian(const oclMat &src, oclMat &dst, int ddepth, int ksize = 1, double scale = 1,
|
|
double delta=0, int borderType=BORDER_DEFAULT);
|
|
|
|
//! returns 2D box filter
|
|
// dst type must be the same as source type
|
|
CV_EXPORTS Ptr<BaseFilter_GPU> getBoxFilter_GPU(int srcType, int dstType,
|
|
const Size &ksize, Point anchor = Point(-1, -1), int borderType = BORDER_DEFAULT);
|
|
|
|
//! returns box filter engine
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createBoxFilter_GPU(int srcType, int dstType, const Size &ksize,
|
|
const Point &anchor = Point(-1, -1), int borderType = BORDER_DEFAULT);
|
|
|
|
//! returns 2D filter with the specified kernel
|
|
// supports: dst type must be the same as source type
|
|
CV_EXPORTS Ptr<BaseFilter_GPU> getLinearFilter_GPU(int srcType, int dstType, const Mat &kernel, const Size &ksize,
|
|
const Point &anchor = Point(-1, -1), int borderType = BORDER_DEFAULT);
|
|
|
|
//! returns the non-separable linear filter engine
|
|
// supports: dst type must be the same as source type
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createLinearFilter_GPU(int srcType, int dstType, const Mat &kernel,
|
|
const Point &anchor = Point(-1, -1), int borderType = BORDER_DEFAULT);
|
|
|
|
//! smooths the image using the normalized box filter
|
|
CV_EXPORTS void boxFilter(const oclMat &src, oclMat &dst, int ddepth, Size ksize,
|
|
Point anchor = Point(-1, -1), int borderType = BORDER_DEFAULT);
|
|
|
|
//! returns 2D morphological filter
|
|
//! only MORPH_ERODE and MORPH_DILATE are supported
|
|
// supports CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4 types
|
|
// kernel must have CV_8UC1 type, one rows and cols == ksize.width * ksize.height
|
|
CV_EXPORTS Ptr<BaseFilter_GPU> getMorphologyFilter_GPU(int op, int type, const Mat &kernel, const Size &ksize,
|
|
Point anchor = Point(-1, -1));
|
|
|
|
//! returns morphological filter engine. Only MORPH_ERODE and MORPH_DILATE are supported.
|
|
CV_EXPORTS Ptr<FilterEngine_GPU> createMorphologyFilter_GPU(int op, int type, const Mat &kernel,
|
|
const Point &anchor = Point(-1, -1), int iterations = 1);
|
|
|
|
//! a synonym for normalized box filter
|
|
static inline void blur(const oclMat &src, oclMat &dst, Size ksize, Point anchor = Point(-1, -1),
|
|
int borderType = BORDER_CONSTANT)
|
|
{
|
|
boxFilter(src, dst, -1, ksize, anchor, borderType);
|
|
}
|
|
|
|
//! applies non-separable 2D linear filter to the image
|
|
CV_EXPORTS void filter2D(const oclMat &src, oclMat &dst, int ddepth, const Mat &kernel,
|
|
Point anchor = Point(-1, -1), double delta = 0.0, int borderType = BORDER_DEFAULT);
|
|
|
|
//! applies separable 2D linear filter to the image
|
|
CV_EXPORTS void sepFilter2D(const oclMat &src, oclMat &dst, int ddepth, const Mat &kernelX, const Mat &kernelY,
|
|
Point anchor = Point(-1, -1), double delta = 0.0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! applies generalized Sobel operator to the image
|
|
// dst.type must equalize src.type
|
|
// supports data type: CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4
|
|
// supports border type: BORDER_CONSTANT, BORDER_REPLICATE, BORDER_REFLECT,BORDER_REFLECT_101
|
|
CV_EXPORTS void Sobel(const oclMat &src, oclMat &dst, int ddepth, int dx, int dy, int ksize = 3, double scale = 1, double delta = 0.0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! applies the vertical or horizontal Scharr operator to the image
|
|
// dst.type must equalize src.type
|
|
// supports data type: CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4
|
|
// supports border type: BORDER_CONSTANT, BORDER_REPLICATE, BORDER_REFLECT,BORDER_REFLECT_101
|
|
CV_EXPORTS void Scharr(const oclMat &src, oclMat &dst, int ddepth, int dx, int dy, double scale = 1, double delta = 0.0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! smooths the image using Gaussian filter.
|
|
// dst.type must equalize src.type
|
|
// supports data type: CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4
|
|
// supports border type: BORDER_CONSTANT, BORDER_REPLICATE, BORDER_REFLECT,BORDER_REFLECT_101
|
|
CV_EXPORTS void GaussianBlur(const oclMat &src, oclMat &dst, Size ksize, double sigma1, double sigma2 = 0, int bordertype = BORDER_DEFAULT);
|
|
|
|
//! erodes the image (applies the local minimum operator)
|
|
// supports data type: CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4
|
|
CV_EXPORTS void erode( const oclMat &src, oclMat &dst, const Mat &kernel, Point anchor = Point(-1, -1), int iterations = 1,
|
|
|
|
int borderType = BORDER_CONSTANT, const Scalar &borderValue = morphologyDefaultBorderValue());
|
|
|
|
|
|
//! dilates the image (applies the local maximum operator)
|
|
// supports data type: CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4
|
|
CV_EXPORTS void dilate( const oclMat &src, oclMat &dst, const Mat &kernel, Point anchor = Point(-1, -1), int iterations = 1,
|
|
|
|
int borderType = BORDER_CONSTANT, const Scalar &borderValue = morphologyDefaultBorderValue());
|
|
|
|
|
|
//! applies an advanced morphological operation to the image
|
|
CV_EXPORTS void morphologyEx( const oclMat &src, oclMat &dst, int op, const Mat &kernel, Point anchor = Point(-1, -1), int iterations = 1,
|
|
|
|
int borderType = BORDER_CONSTANT, const Scalar &borderValue = morphologyDefaultBorderValue());
|
|
|
|
|
|
////////////////////////////// Image processing //////////////////////////////
|
|
//! Does mean shift filtering on GPU.
|
|
CV_EXPORTS void meanShiftFiltering(const oclMat &src, oclMat &dst, int sp, int sr,
|
|
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
|
|
|
|
//! Does mean shift procedure on GPU.
|
|
CV_EXPORTS void meanShiftProc(const oclMat &src, oclMat &dstr, oclMat &dstsp, int sp, int sr,
|
|
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
|
|
|
|
//! Does mean shift segmentation with elimiation of small regions.
|
|
CV_EXPORTS void meanShiftSegmentation(const oclMat &src, Mat &dst, int sp, int sr, int minsize,
|
|
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
|
|
|
|
//! applies fixed threshold to the image.
|
|
// supports CV_8UC1 and CV_32FC1 data type
|
|
// supports threshold type: THRESH_BINARY, THRESH_BINARY_INV, THRESH_TRUNC, THRESH_TOZERO, THRESH_TOZERO_INV
|
|
CV_EXPORTS double threshold(const oclMat &src, oclMat &dst, double thresh, double maxVal, int type = THRESH_TRUNC);
|
|
|
|
//! resizes the image
|
|
// Supports INTER_NEAREST, INTER_LINEAR
|
|
// supports CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4 types
|
|
CV_EXPORTS void resize(const oclMat &src, oclMat &dst, Size dsize, double fx = 0, double fy = 0, int interpolation = INTER_LINEAR);
|
|
|
|
//! Applies a generic geometrical transformation to an image.
|
|
|
|
// Supports INTER_NEAREST, INTER_LINEAR.
|
|
// Map1 supports CV_16SC2, CV_32FC2 types.
|
|
// Src supports CV_8UC1, CV_8UC2, CV_8UC4.
|
|
CV_EXPORTS void remap(const oclMat &src, oclMat &dst, oclMat &map1, oclMat &map2, int interpolation, int bordertype, const Scalar &value = Scalar());
|
|
|
|
//! copies 2D array to a larger destination array and pads borders with user-specifiable constant
|
|
// supports CV_8UC1, CV_8UC4, CV_32SC1 types
|
|
CV_EXPORTS void copyMakeBorder(const oclMat &src, oclMat &dst, int top, int bottom, int left, int right, int boardtype, const Scalar &value = Scalar());
|
|
|
|
//! Smoothes image using median filter
|
|
// The source 1- or 4-channel image. m should be 3 or 5, the image depth should be CV_8U or CV_32F.
|
|
CV_EXPORTS void medianFilter(const oclMat &src, oclMat &dst, int m);
|
|
|
|
//! warps the image using affine transformation
|
|
// Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
|
|
// supports CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4 types
|
|
CV_EXPORTS void warpAffine(const oclMat &src, oclMat &dst, const Mat &M, Size dsize, int flags = INTER_LINEAR);
|
|
|
|
//! warps the image using perspective transformation
|
|
// Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
|
|
// supports CV_8UC1, CV_8UC4, CV_32FC1 and CV_32FC4 types
|
|
CV_EXPORTS void warpPerspective(const oclMat &src, oclMat &dst, const Mat &M, Size dsize, int flags = INTER_LINEAR);
|
|
|
|
//! computes the integral image and integral for the squared image
|
|
// sum will support CV_32S, CV_32F, sqsum - support CV32F, CV_64F
|
|
// supports only CV_8UC1 source type
|
|
CV_EXPORTS void integral(const oclMat &src, oclMat &sum, oclMat &sqsum, int sdepth=-1 );
|
|
CV_EXPORTS void integral(const oclMat &src, oclMat &sum, int sdepth=-1 );
|
|
CV_EXPORTS void cornerHarris(const oclMat &src, oclMat &dst, int blockSize, int ksize, double k, int bordertype = cv::BORDER_DEFAULT);
|
|
CV_EXPORTS void cornerHarris_dxdy(const oclMat &src, oclMat &dst, oclMat &Dx, oclMat &Dy,
|
|
int blockSize, int ksize, double k, int bordertype = cv::BORDER_DEFAULT);
|
|
CV_EXPORTS void cornerMinEigenVal(const oclMat &src, oclMat &dst, int blockSize, int ksize, int bordertype = cv::BORDER_DEFAULT);
|
|
CV_EXPORTS void cornerMinEigenVal_dxdy(const oclMat &src, oclMat &dst, oclMat &Dx, oclMat &Dy,
|
|
int blockSize, int ksize, int bordertype = cv::BORDER_DEFAULT);
|
|
|
|
|
|
/////////////////////////////////// ML ///////////////////////////////////////////
|
|
|
|
//! Compute closest centers for each lines in source and lable it after center's index
|
|
// supports CV_32FC1/CV_32FC2/CV_32FC4 data type
|
|
// supports NORM_L1 and NORM_L2 distType
|
|
// if indices is provided, only the indexed rows will be calculated and their results are in the same
|
|
// order of indices
|
|
CV_EXPORTS void distanceToCenters(const oclMat &src, const oclMat ¢ers, Mat &dists, Mat &labels, int distType = NORM_L2SQR);
|
|
|
|
//!Does k-means procedure on GPU
|
|
// supports CV_32FC1/CV_32FC2/CV_32FC4 data type
|
|
CV_EXPORTS double kmeans(const oclMat &src, int K, oclMat &bestLabels,
|
|
TermCriteria criteria, int attemps, int flags, oclMat ¢ers);
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
///////////////////////////////////////////CascadeClassifier//////////////////////////////////////////////////////////////////
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
class CV_EXPORTS OclCascadeClassifier : public cv::CascadeClassifier
|
|
{
|
|
public:
|
|
void detectMultiScale(oclMat &image, CV_OUT std::vector<cv::Rect>& faces,
|
|
double scaleFactor = 1.1, int minNeighbors = 3, int flags = 0,
|
|
Size minSize = Size(), Size maxSize = Size());
|
|
};
|
|
|
|
/////////////////////////////// Pyramid /////////////////////////////////////
|
|
CV_EXPORTS void pyrDown(const oclMat &src, oclMat &dst);
|
|
|
|
//! upsamples the source image and then smoothes it
|
|
CV_EXPORTS void pyrUp(const oclMat &src, oclMat &dst);
|
|
|
|
//! performs linear blending of two images
|
|
//! to avoid accuracy errors sum of weigths shouldn't be very close to zero
|
|
// supports only CV_8UC1 source type
|
|
CV_EXPORTS void blendLinear(const oclMat &img1, const oclMat &img2, const oclMat &weights1, const oclMat &weights2, oclMat &result);
|
|
|
|
//! computes vertical sum, supports only CV_32FC1 images
|
|
CV_EXPORTS void columnSum(const oclMat &src, oclMat &sum);
|
|
|
|
///////////////////////////////////////// match_template /////////////////////////////////////////////////////////////
|
|
struct CV_EXPORTS MatchTemplateBuf
|
|
{
|
|
Size user_block_size;
|
|
oclMat imagef, templf;
|
|
std::vector<oclMat> images;
|
|
std::vector<oclMat> image_sums;
|
|
std::vector<oclMat> image_sqsums;
|
|
};
|
|
|
|
//! computes the proximity map for the raster template and the image where the template is searched for
|
|
// Supports TM_SQDIFF, TM_SQDIFF_NORMED, TM_CCORR, TM_CCORR_NORMED, TM_CCOEFF, TM_CCOEFF_NORMED for type 8UC1 and 8UC4
|
|
// Supports TM_SQDIFF, TM_CCORR for type 32FC1 and 32FC4
|
|
CV_EXPORTS void matchTemplate(const oclMat &image, const oclMat &templ, oclMat &result, int method);
|
|
|
|
//! computes the proximity map for the raster template and the image where the template is searched for
|
|
// Supports TM_SQDIFF, TM_SQDIFF_NORMED, TM_CCORR, TM_CCORR_NORMED, TM_CCOEFF, TM_CCOEFF_NORMED for type 8UC1 and 8UC4
|
|
// Supports TM_SQDIFF, TM_CCORR for type 32FC1 and 32FC4
|
|
CV_EXPORTS void matchTemplate(const oclMat &image, const oclMat &templ, oclMat &result, int method, MatchTemplateBuf &buf);
|
|
|
|
|
|
|
|
///////////////////////////////////////////// Canny /////////////////////////////////////////////
|
|
struct CV_EXPORTS CannyBuf;
|
|
|
|
//! compute edges of the input image using Canny operator
|
|
// Support CV_8UC1 only
|
|
CV_EXPORTS void Canny(const oclMat &image, oclMat &edges, double low_thresh, double high_thresh, int apperture_size = 3, bool L2gradient = false);
|
|
CV_EXPORTS void Canny(const oclMat &image, CannyBuf &buf, oclMat &edges, double low_thresh, double high_thresh, int apperture_size = 3, bool L2gradient = false);
|
|
CV_EXPORTS void Canny(const oclMat &dx, const oclMat &dy, oclMat &edges, double low_thresh, double high_thresh, bool L2gradient = false);
|
|
CV_EXPORTS void Canny(const oclMat &dx, const oclMat &dy, CannyBuf &buf, oclMat &edges, double low_thresh, double high_thresh, bool L2gradient = false);
|
|
|
|
struct CV_EXPORTS CannyBuf
|
|
{
|
|
CannyBuf() : counter(1, 1, CV_32S) { }
|
|
~CannyBuf()
|
|
{
|
|
release();
|
|
}
|
|
explicit CannyBuf(const Size &image_size, int apperture_size = 3) : counter(1, 1, CV_32S)
|
|
{
|
|
create(image_size, apperture_size);
|
|
}
|
|
CannyBuf(const oclMat &dx_, const oclMat &dy_);
|
|
void create(const Size &image_size, int apperture_size = 3);
|
|
void release();
|
|
|
|
oclMat dx, dy;
|
|
oclMat dx_buf, dy_buf;
|
|
oclMat magBuf, mapBuf;
|
|
oclMat trackBuf1, trackBuf2;
|
|
oclMat counter;
|
|
Ptr<FilterEngine_GPU> filterDX, filterDY;
|
|
};
|
|
|
|
///////////////////////////////////////// Hough Transform /////////////////////////////////////////
|
|
//! HoughCircles
|
|
struct HoughCirclesBuf
|
|
{
|
|
oclMat edges;
|
|
oclMat accum;
|
|
oclMat srcPoints;
|
|
oclMat centers;
|
|
CannyBuf cannyBuf;
|
|
};
|
|
|
|
CV_EXPORTS void HoughCircles(const oclMat& src, oclMat& circles, int method, float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles = 4096);
|
|
CV_EXPORTS void HoughCircles(const oclMat& src, oclMat& circles, HoughCirclesBuf& buf, int method, float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles = 4096);
|
|
CV_EXPORTS void HoughCirclesDownload(const oclMat& d_circles, OutputArray h_circles);
|
|
|
|
|
|
///////////////////////////////////////// clAmdFft related /////////////////////////////////////////
|
|
//! Performs a forward or inverse discrete Fourier transform (1D or 2D) of floating point matrix.
|
|
//! Param dft_size is the size of DFT transform.
|
|
//!
|
|
//! For complex-to-real transform it is assumed that the source matrix is packed in CLFFT's format.
|
|
// support src type of CV32FC1, CV32FC2
|
|
// support flags: DFT_INVERSE, DFT_REAL_OUTPUT, DFT_COMPLEX_OUTPUT, DFT_ROWS
|
|
// dft_size is the size of original input, which is used for transformation from complex to real.
|
|
// dft_size must be powers of 2, 3 and 5
|
|
// real to complex dft requires at least v1.8 clAmdFft
|
|
// real to complex dft output is not the same with cpu version
|
|
// real to complex and complex to real does not support DFT_ROWS
|
|
CV_EXPORTS void dft(const oclMat &src, oclMat &dst, Size dft_size = Size(), int flags = 0);
|
|
|
|
//! implements generalized matrix product algorithm GEMM from BLAS
|
|
// The functionality requires clAmdBlas library
|
|
// only support type CV_32FC1
|
|
// flag GEMM_3_T is not supported
|
|
CV_EXPORTS void gemm(const oclMat &src1, const oclMat &src2, double alpha,
|
|
const oclMat &src3, double beta, oclMat &dst, int flags = 0);
|
|
|
|
//////////////// HOG (Histogram-of-Oriented-Gradients) Descriptor and Object Detector //////////////
|
|
|
|
struct CV_EXPORTS HOGDescriptor
|
|
|
|
{
|
|
|
|
enum { DEFAULT_WIN_SIGMA = -1 };
|
|
|
|
enum { DEFAULT_NLEVELS = 64 };
|
|
|
|
enum { DESCR_FORMAT_ROW_BY_ROW, DESCR_FORMAT_COL_BY_COL };
|
|
|
|
|
|
|
|
HOGDescriptor(Size win_size = Size(64, 128), Size block_size = Size(16, 16),
|
|
|
|
Size block_stride = Size(8, 8), Size cell_size = Size(8, 8),
|
|
|
|
int nbins = 9, double win_sigma = DEFAULT_WIN_SIGMA,
|
|
|
|
double threshold_L2hys = 0.2, bool gamma_correction = true,
|
|
|
|
int nlevels = DEFAULT_NLEVELS);
|
|
|
|
|
|
|
|
size_t getDescriptorSize() const;
|
|
|
|
size_t getBlockHistogramSize() const;
|
|
|
|
|
|
|
|
void setSVMDetector(const std::vector<float> &detector);
|
|
|
|
|
|
|
|
static std::vector<float> getDefaultPeopleDetector();
|
|
|
|
static std::vector<float> getPeopleDetector48x96();
|
|
|
|
static std::vector<float> getPeopleDetector64x128();
|
|
|
|
|
|
|
|
void detect(const oclMat &img, std::vector<Point> &found_locations,
|
|
|
|
double hit_threshold = 0, Size win_stride = Size(),
|
|
|
|
Size padding = Size());
|
|
|
|
|
|
|
|
void detectMultiScale(const oclMat &img, std::vector<Rect> &found_locations,
|
|
|
|
double hit_threshold = 0, Size win_stride = Size(),
|
|
|
|
Size padding = Size(), double scale0 = 1.05,
|
|
|
|
int group_threshold = 2);
|
|
|
|
|
|
|
|
void getDescriptors(const oclMat &img, Size win_stride,
|
|
|
|
oclMat &descriptors,
|
|
|
|
int descr_format = DESCR_FORMAT_COL_BY_COL);
|
|
|
|
|
|
|
|
Size win_size;
|
|
|
|
Size block_size;
|
|
|
|
Size block_stride;
|
|
|
|
Size cell_size;
|
|
|
|
int nbins;
|
|
|
|
double win_sigma;
|
|
|
|
double threshold_L2hys;
|
|
|
|
bool gamma_correction;
|
|
|
|
int nlevels;
|
|
|
|
|
|
|
|
protected:
|
|
|
|
// initialize buffers; only need to do once in case of multiscale detection
|
|
|
|
void init_buffer(const oclMat &img, Size win_stride);
|
|
|
|
|
|
|
|
void computeBlockHistograms(const oclMat &img);
|
|
|
|
void computeGradient(const oclMat &img, oclMat &grad, oclMat &qangle);
|
|
|
|
|
|
|
|
double getWinSigma() const;
|
|
|
|
bool checkDetectorSize() const;
|
|
|
|
|
|
|
|
static int numPartsWithin(int size, int part_size, int stride);
|
|
|
|
static Size numPartsWithin(Size size, Size part_size, Size stride);
|
|
|
|
|
|
|
|
// Coefficients of the separating plane
|
|
|
|
float free_coef;
|
|
|
|
oclMat detector;
|
|
|
|
|
|
|
|
// Results of the last classification step
|
|
|
|
oclMat labels;
|
|
|
|
Mat labels_host;
|
|
|
|
|
|
|
|
// Results of the last histogram evaluation step
|
|
|
|
oclMat block_hists;
|
|
|
|
|
|
|
|
// Gradients conputation results
|
|
|
|
oclMat grad, qangle;
|
|
|
|
|
|
|
|
// scaled image
|
|
|
|
oclMat image_scale;
|
|
|
|
|
|
|
|
// effect size of input image (might be different from original size after scaling)
|
|
|
|
Size effect_size;
|
|
|
|
};
|
|
|
|
|
|
////////////////////////feature2d_ocl/////////////////
|
|
/****************************************************************************************\
|
|
* Distance *
|
|
\****************************************************************************************/
|
|
template<typename T>
|
|
struct CV_EXPORTS Accumulator
|
|
{
|
|
typedef T Type;
|
|
};
|
|
template<> struct Accumulator<unsigned char>
|
|
{
|
|
typedef float Type;
|
|
};
|
|
template<> struct Accumulator<unsigned short>
|
|
{
|
|
typedef float Type;
|
|
};
|
|
template<> struct Accumulator<char>
|
|
{
|
|
typedef float Type;
|
|
};
|
|
template<> struct Accumulator<short>
|
|
{
|
|
typedef float Type;
|
|
};
|
|
|
|
/*
|
|
* Manhattan distance (city block distance) functor
|
|
*/
|
|
template<class T>
|
|
struct CV_EXPORTS L1
|
|
{
|
|
enum { normType = NORM_L1 };
|
|
typedef T ValueType;
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
ResultType operator()( const T *a, const T *b, int size ) const
|
|
{
|
|
return normL1<ValueType, ResultType>(a, b, size);
|
|
}
|
|
};
|
|
|
|
/*
|
|
* Euclidean distance functor
|
|
*/
|
|
template<class T>
|
|
struct CV_EXPORTS L2
|
|
{
|
|
enum { normType = NORM_L2 };
|
|
typedef T ValueType;
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
ResultType operator()( const T *a, const T *b, int size ) const
|
|
{
|
|
return (ResultType)std::sqrt((double)normL2Sqr<ValueType, ResultType>(a, b, size));
|
|
}
|
|
};
|
|
|
|
/*
|
|
* Hamming distance functor - counts the bit differences between two strings - useful for the Brief descriptor
|
|
* bit count of A exclusive XOR'ed with B
|
|
*/
|
|
struct CV_EXPORTS Hamming
|
|
{
|
|
enum { normType = NORM_HAMMING };
|
|
typedef unsigned char ValueType;
|
|
typedef int ResultType;
|
|
|
|
/** this will count the bits in a ^ b
|
|
*/
|
|
ResultType operator()( const unsigned char *a, const unsigned char *b, int size ) const
|
|
{
|
|
return normHamming(a, b, size);
|
|
}
|
|
};
|
|
|
|
////////////////////////////////// BruteForceMatcher //////////////////////////////////
|
|
|
|
class CV_EXPORTS BruteForceMatcher_OCL_base
|
|
{
|
|
public:
|
|
enum DistType {L1Dist = 0, L2Dist, HammingDist};
|
|
explicit BruteForceMatcher_OCL_base(DistType distType = L2Dist);
|
|
|
|
// Add descriptors to train descriptor collection
|
|
void add(const std::vector<oclMat> &descCollection);
|
|
|
|
// Get train descriptors collection
|
|
const std::vector<oclMat> &getTrainDescriptors() const;
|
|
|
|
// Clear train descriptors collection
|
|
void clear();
|
|
|
|
// Return true if there are not train descriptors in collection
|
|
bool empty() const;
|
|
|
|
// Return true if the matcher supports mask in match methods
|
|
bool isMaskSupported() const;
|
|
|
|
// Find one best match for each query descriptor
|
|
void matchSingle(const oclMat &query, const oclMat &train,
|
|
oclMat &trainIdx, oclMat &distance,
|
|
const oclMat &mask = oclMat());
|
|
|
|
// Download trainIdx and distance and convert it to CPU vector with DMatch
|
|
static void matchDownload(const oclMat &trainIdx, const oclMat &distance, std::vector<DMatch> &matches);
|
|
// Convert trainIdx and distance to vector with DMatch
|
|
static void matchConvert(const Mat &trainIdx, const Mat &distance, std::vector<DMatch> &matches);
|
|
|
|
// Find one best match for each query descriptor
|
|
void match(const oclMat &query, const oclMat &train, std::vector<DMatch> &matches, const oclMat &mask = oclMat());
|
|
|
|
// Make gpu collection of trains and masks in suitable format for matchCollection function
|
|
void makeGpuCollection(oclMat &trainCollection, oclMat &maskCollection, const std::vector<oclMat> &masks = std::vector<oclMat>());
|
|
|
|
// Find one best match from train collection for each query descriptor
|
|
void matchCollection(const oclMat &query, const oclMat &trainCollection,
|
|
oclMat &trainIdx, oclMat &imgIdx, oclMat &distance,
|
|
const oclMat &masks = oclMat());
|
|
|
|
// Download trainIdx, imgIdx and distance and convert it to vector with DMatch
|
|
static void matchDownload(const oclMat &trainIdx, const oclMat &imgIdx, const oclMat &distance, std::vector<DMatch> &matches);
|
|
// Convert trainIdx, imgIdx and distance to vector with DMatch
|
|
static void matchConvert(const Mat &trainIdx, const Mat &imgIdx, const Mat &distance, std::vector<DMatch> &matches);
|
|
|
|
// Find one best match from train collection for each query descriptor.
|
|
void match(const oclMat &query, std::vector<DMatch> &matches, const std::vector<oclMat> &masks = std::vector<oclMat>());
|
|
|
|
// Find k best matches for each query descriptor (in increasing order of distances)
|
|
void knnMatchSingle(const oclMat &query, const oclMat &train,
|
|
oclMat &trainIdx, oclMat &distance, oclMat &allDist, int k,
|
|
const oclMat &mask = oclMat());
|
|
|
|
// Download trainIdx and distance and convert it to vector with DMatch
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
static void knnMatchDownload(const oclMat &trainIdx, const oclMat &distance,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
// Convert trainIdx and distance to vector with DMatch
|
|
static void knnMatchConvert(const Mat &trainIdx, const Mat &distance,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
|
|
// Find k best matches for each query descriptor (in increasing order of distances).
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
void knnMatch(const oclMat &query, const oclMat &train,
|
|
std::vector< std::vector<DMatch> > &matches, int k, const oclMat &mask = oclMat(),
|
|
bool compactResult = false);
|
|
|
|
// Find k best matches from train collection for each query descriptor (in increasing order of distances)
|
|
void knnMatch2Collection(const oclMat &query, const oclMat &trainCollection,
|
|
oclMat &trainIdx, oclMat &imgIdx, oclMat &distance,
|
|
const oclMat &maskCollection = oclMat());
|
|
|
|
// Download trainIdx and distance and convert it to vector with DMatch
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
static void knnMatch2Download(const oclMat &trainIdx, const oclMat &imgIdx, const oclMat &distance,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
// Convert trainIdx and distance to vector with DMatch
|
|
static void knnMatch2Convert(const Mat &trainIdx, const Mat &imgIdx, const Mat &distance,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
|
|
// Find k best matches for each query descriptor (in increasing order of distances).
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
void knnMatch(const oclMat &query, std::vector< std::vector<DMatch> > &matches, int k,
|
|
const std::vector<oclMat> &masks = std::vector<oclMat>(), bool compactResult = false);
|
|
|
|
// Find best matches for each query descriptor which have distance less than maxDistance.
|
|
// nMatches.at<int>(0, queryIdx) will contain matches count for queryIdx.
|
|
// carefully nMatches can be greater than trainIdx.cols - it means that matcher didn't find all matches,
|
|
// because it didn't have enough memory.
|
|
// If trainIdx is empty, then trainIdx and distance will be created with size nQuery x max((nTrain / 100), 10),
|
|
// otherwize user can pass own allocated trainIdx and distance with size nQuery x nMaxMatches
|
|
// Matches doesn't sorted.
|
|
void radiusMatchSingle(const oclMat &query, const oclMat &train,
|
|
oclMat &trainIdx, oclMat &distance, oclMat &nMatches, float maxDistance,
|
|
const oclMat &mask = oclMat());
|
|
|
|
// Download trainIdx, nMatches and distance and convert it to vector with DMatch.
|
|
// matches will be sorted in increasing order of distances.
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
static void radiusMatchDownload(const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
// Convert trainIdx, nMatches and distance to vector with DMatch.
|
|
static void radiusMatchConvert(const Mat &trainIdx, const Mat &distance, const Mat &nMatches,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
|
|
// Find best matches for each query descriptor which have distance less than maxDistance
|
|
// in increasing order of distances).
|
|
void radiusMatch(const oclMat &query, const oclMat &train,
|
|
std::vector< std::vector<DMatch> > &matches, float maxDistance,
|
|
const oclMat &mask = oclMat(), bool compactResult = false);
|
|
|
|
// Find best matches for each query descriptor which have distance less than maxDistance.
|
|
// If trainIdx is empty, then trainIdx and distance will be created with size nQuery x max((nQuery / 100), 10),
|
|
// otherwize user can pass own allocated trainIdx and distance with size nQuery x nMaxMatches
|
|
// Matches doesn't sorted.
|
|
void radiusMatchCollection(const oclMat &query, oclMat &trainIdx, oclMat &imgIdx, oclMat &distance, oclMat &nMatches, float maxDistance,
|
|
const std::vector<oclMat> &masks = std::vector<oclMat>());
|
|
|
|
// Download trainIdx, imgIdx, nMatches and distance and convert it to vector with DMatch.
|
|
// matches will be sorted in increasing order of distances.
|
|
// compactResult is used when mask is not empty. If compactResult is false matches
|
|
// vector will have the same size as queryDescriptors rows. If compactResult is true
|
|
// matches vector will not contain matches for fully masked out query descriptors.
|
|
static void radiusMatchDownload(const oclMat &trainIdx, const oclMat &imgIdx, const oclMat &distance, const oclMat &nMatches,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
// Convert trainIdx, nMatches and distance to vector with DMatch.
|
|
static void radiusMatchConvert(const Mat &trainIdx, const Mat &imgIdx, const Mat &distance, const Mat &nMatches,
|
|
std::vector< std::vector<DMatch> > &matches, bool compactResult = false);
|
|
|
|
// Find best matches from train collection for each query descriptor which have distance less than
|
|
// maxDistance (in increasing order of distances).
|
|
void radiusMatch(const oclMat &query, std::vector< std::vector<DMatch> > &matches, float maxDistance,
|
|
const std::vector<oclMat> &masks = std::vector<oclMat>(), bool compactResult = false);
|
|
|
|
DistType distType;
|
|
|
|
private:
|
|
std::vector<oclMat> trainDescCollection;
|
|
};
|
|
|
|
template <class Distance>
|
|
class CV_EXPORTS BruteForceMatcher_OCL;
|
|
|
|
template <typename T>
|
|
class CV_EXPORTS BruteForceMatcher_OCL< L1<T> > : public BruteForceMatcher_OCL_base
|
|
{
|
|
public:
|
|
explicit BruteForceMatcher_OCL() : BruteForceMatcher_OCL_base(L1Dist) {}
|
|
explicit BruteForceMatcher_OCL(L1<T> /*d*/) : BruteForceMatcher_OCL_base(L1Dist) {}
|
|
};
|
|
template <typename T>
|
|
class CV_EXPORTS BruteForceMatcher_OCL< L2<T> > : public BruteForceMatcher_OCL_base
|
|
{
|
|
public:
|
|
explicit BruteForceMatcher_OCL() : BruteForceMatcher_OCL_base(L2Dist) {}
|
|
explicit BruteForceMatcher_OCL(L2<T> /*d*/) : BruteForceMatcher_OCL_base(L2Dist) {}
|
|
};
|
|
template <> class CV_EXPORTS BruteForceMatcher_OCL< Hamming > : public BruteForceMatcher_OCL_base
|
|
{
|
|
public:
|
|
explicit BruteForceMatcher_OCL() : BruteForceMatcher_OCL_base(HammingDist) {}
|
|
explicit BruteForceMatcher_OCL(Hamming /*d*/) : BruteForceMatcher_OCL_base(HammingDist) {}
|
|
};
|
|
|
|
class CV_EXPORTS BFMatcher_OCL : public BruteForceMatcher_OCL_base
|
|
{
|
|
public:
|
|
explicit BFMatcher_OCL(int norm = NORM_L2) : BruteForceMatcher_OCL_base(norm == NORM_L1 ? L1Dist : norm == NORM_L2 ? L2Dist : HammingDist) {}
|
|
};
|
|
|
|
class CV_EXPORTS GoodFeaturesToTrackDetector_OCL
|
|
{
|
|
public:
|
|
explicit GoodFeaturesToTrackDetector_OCL(int maxCorners = 1000, double qualityLevel = 0.01, double minDistance = 0.0,
|
|
int blockSize = 3, bool useHarrisDetector = false, double harrisK = 0.04);
|
|
|
|
//! return 1 rows matrix with CV_32FC2 type
|
|
void operator ()(const oclMat& image, oclMat& corners, const oclMat& mask = oclMat());
|
|
//! download points of type Point2f to a vector. the vector's content will be erased
|
|
void downloadPoints(const oclMat &points, std::vector<Point2f> &points_v);
|
|
|
|
int maxCorners;
|
|
double qualityLevel;
|
|
double minDistance;
|
|
|
|
int blockSize;
|
|
bool useHarrisDetector;
|
|
double harrisK;
|
|
void releaseMemory()
|
|
{
|
|
Dx_.release();
|
|
Dy_.release();
|
|
eig_.release();
|
|
minMaxbuf_.release();
|
|
tmpCorners_.release();
|
|
}
|
|
private:
|
|
oclMat Dx_;
|
|
oclMat Dy_;
|
|
oclMat eig_;
|
|
oclMat minMaxbuf_;
|
|
oclMat tmpCorners_;
|
|
};
|
|
|
|
inline GoodFeaturesToTrackDetector_OCL::GoodFeaturesToTrackDetector_OCL(int maxCorners_, double qualityLevel_, double minDistance_,
|
|
int blockSize_, bool useHarrisDetector_, double harrisK_)
|
|
{
|
|
maxCorners = maxCorners_;
|
|
qualityLevel = qualityLevel_;
|
|
minDistance = minDistance_;
|
|
blockSize = blockSize_;
|
|
useHarrisDetector = useHarrisDetector_;
|
|
harrisK = harrisK_;
|
|
}
|
|
|
|
////////////////////////////////// FAST Feature Detector //////////////////////////////////
|
|
class CV_EXPORTS FAST_OCL
|
|
{
|
|
public:
|
|
enum
|
|
{
|
|
X_ROW = 0,
|
|
Y_ROW,
|
|
RESPONSE_ROW,
|
|
ROWS_COUNT
|
|
};
|
|
|
|
// all features have same size
|
|
static const int FEATURE_SIZE = 7;
|
|
|
|
explicit FAST_OCL(int threshold, bool nonmaxSupression = true, double keypointsRatio = 0.05);
|
|
|
|
//! finds the keypoints using FAST detector
|
|
//! supports only CV_8UC1 images
|
|
void operator ()(const oclMat& image, const oclMat& mask, oclMat& keypoints);
|
|
void operator ()(const oclMat& image, const oclMat& mask, std::vector<KeyPoint>& keypoints);
|
|
|
|
//! download keypoints from device to host memory
|
|
static void downloadKeypoints(const oclMat& d_keypoints, std::vector<KeyPoint>& keypoints);
|
|
|
|
//! convert keypoints to KeyPoint vector
|
|
static void convertKeypoints(const Mat& h_keypoints, std::vector<KeyPoint>& keypoints);
|
|
|
|
//! release temporary buffer's memory
|
|
void release();
|
|
|
|
bool nonmaxSupression;
|
|
|
|
int threshold;
|
|
|
|
//! max keypoints = keypointsRatio * img.size().area()
|
|
double keypointsRatio;
|
|
|
|
//! find keypoints and compute it's response if nonmaxSupression is true
|
|
//! return count of detected keypoints
|
|
int calcKeyPointsLocation(const oclMat& image, const oclMat& mask);
|
|
|
|
//! get final array of keypoints
|
|
//! performs nonmax supression if needed
|
|
//! return final count of keypoints
|
|
int getKeyPoints(oclMat& keypoints);
|
|
|
|
private:
|
|
oclMat kpLoc_;
|
|
int count_;
|
|
|
|
oclMat score_;
|
|
|
|
oclMat d_keypoints_;
|
|
|
|
int calcKeypointsOCL(const oclMat& img, const oclMat& mask, int maxKeypoints);
|
|
int nonmaxSupressionOCL(oclMat& keypoints);
|
|
};
|
|
|
|
/////////////////////////////// PyrLKOpticalFlow /////////////////////////////////////
|
|
|
|
class CV_EXPORTS PyrLKOpticalFlow
|
|
{
|
|
public:
|
|
PyrLKOpticalFlow()
|
|
{
|
|
winSize = Size(21, 21);
|
|
maxLevel = 3;
|
|
iters = 30;
|
|
derivLambda = 0.5;
|
|
useInitialFlow = false;
|
|
minEigThreshold = 1e-4f;
|
|
getMinEigenVals = false;
|
|
isDeviceArch11_ = false;
|
|
}
|
|
|
|
void sparse(const oclMat &prevImg, const oclMat &nextImg, const oclMat &prevPts, oclMat &nextPts,
|
|
oclMat &status, oclMat *err = 0);
|
|
|
|
void dense(const oclMat &prevImg, const oclMat &nextImg, oclMat &u, oclMat &v, oclMat *err = 0);
|
|
|
|
Size winSize;
|
|
int maxLevel;
|
|
int iters;
|
|
double derivLambda;
|
|
bool useInitialFlow;
|
|
float minEigThreshold;
|
|
bool getMinEigenVals;
|
|
|
|
void releaseMemory()
|
|
{
|
|
dx_calcBuf_.release();
|
|
dy_calcBuf_.release();
|
|
|
|
prevPyr_.clear();
|
|
nextPyr_.clear();
|
|
|
|
dx_buf_.release();
|
|
dy_buf_.release();
|
|
}
|
|
|
|
private:
|
|
void calcSharrDeriv(const oclMat &src, oclMat &dx, oclMat &dy);
|
|
|
|
void buildImagePyramid(const oclMat &img0, std::vector<oclMat> &pyr, bool withBorder);
|
|
|
|
oclMat dx_calcBuf_;
|
|
oclMat dy_calcBuf_;
|
|
|
|
std::vector<oclMat> prevPyr_;
|
|
std::vector<oclMat> nextPyr_;
|
|
|
|
oclMat dx_buf_;
|
|
oclMat dy_buf_;
|
|
|
|
oclMat uPyr_[2];
|
|
oclMat vPyr_[2];
|
|
|
|
bool isDeviceArch11_;
|
|
};
|
|
|
|
class CV_EXPORTS FarnebackOpticalFlow
|
|
{
|
|
public:
|
|
FarnebackOpticalFlow();
|
|
|
|
int numLevels;
|
|
double pyrScale;
|
|
bool fastPyramids;
|
|
int winSize;
|
|
int numIters;
|
|
int polyN;
|
|
double polySigma;
|
|
int flags;
|
|
|
|
void operator ()(const oclMat &frame0, const oclMat &frame1, oclMat &flowx, oclMat &flowy);
|
|
|
|
void releaseMemory();
|
|
|
|
private:
|
|
void prepareGaussian(
|
|
int n, double sigma, float *g, float *xg, float *xxg,
|
|
double &ig11, double &ig03, double &ig33, double &ig55);
|
|
|
|
void setPolynomialExpansionConsts(int n, double sigma);
|
|
|
|
void updateFlow_boxFilter(
|
|
const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat &flowy,
|
|
oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices);
|
|
|
|
void updateFlow_gaussianBlur(
|
|
const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat& flowy,
|
|
oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices);
|
|
|
|
oclMat frames_[2];
|
|
oclMat pyrLevel_[2], M_, bufM_, R_[2], blurredFrame_[2];
|
|
std::vector<oclMat> pyramid0_, pyramid1_;
|
|
};
|
|
|
|
//////////////// build warping maps ////////////////////
|
|
//! builds plane warping maps
|
|
CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat &R, const Mat &T, float scale, oclMat &map_x, oclMat &map_y);
|
|
//! builds cylindrical warping maps
|
|
CV_EXPORTS void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat &R, float scale, oclMat &map_x, oclMat &map_y);
|
|
//! builds spherical warping maps
|
|
CV_EXPORTS void buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat &R, float scale, oclMat &map_x, oclMat &map_y);
|
|
//! builds Affine warping maps
|
|
CV_EXPORTS void buildWarpAffineMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap);
|
|
|
|
//! builds Perspective warping maps
|
|
CV_EXPORTS void buildWarpPerspectiveMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap);
|
|
|
|
///////////////////////////////////// interpolate frames //////////////////////////////////////////////
|
|
//! Interpolate frames (images) using provided optical flow (displacement field).
|
|
//! frame0 - frame 0 (32-bit floating point images, single channel)
|
|
//! frame1 - frame 1 (the same type and size)
|
|
//! fu - forward horizontal displacement
|
|
//! fv - forward vertical displacement
|
|
//! bu - backward horizontal displacement
|
|
//! bv - backward vertical displacement
|
|
//! pos - new frame position
|
|
//! newFrame - new frame
|
|
//! buf - temporary buffer, will have width x 6*height size, CV_32FC1 type and contain 6 oclMat;
|
|
//! occlusion masks 0, occlusion masks 1,
|
|
//! interpolated forward flow 0, interpolated forward flow 1,
|
|
//! interpolated backward flow 0, interpolated backward flow 1
|
|
//!
|
|
CV_EXPORTS void interpolateFrames(const oclMat &frame0, const oclMat &frame1,
|
|
const oclMat &fu, const oclMat &fv,
|
|
const oclMat &bu, const oclMat &bv,
|
|
float pos, oclMat &newFrame, oclMat &buf);
|
|
|
|
//! computes moments of the rasterized shape or a vector of points
|
|
//! _array should be a vector a points standing for the contour
|
|
CV_EXPORTS Moments ocl_moments(InputArray contour);
|
|
//! src should be a general image uploaded to the GPU.
|
|
//! the supported oclMat type are CV_8UC1, CV_16UC1, CV_16SC1, CV_32FC1 and CV_64FC1
|
|
//! to use type of CV_64FC1, the GPU should support CV_64FC1
|
|
CV_EXPORTS Moments ocl_moments(oclMat& src, bool binary);
|
|
|
|
class CV_EXPORTS StereoBM_OCL
|
|
{
|
|
public:
|
|
enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
|
|
|
|
enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
|
|
|
|
//! the default constructor
|
|
StereoBM_OCL();
|
|
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
|
|
StereoBM_OCL(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
|
|
|
|
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
|
|
//! Output disparity has CV_8U type.
|
|
void operator() ( const oclMat &left, const oclMat &right, oclMat &disparity);
|
|
|
|
//! Some heuristics that tries to estmate
|
|
// if current GPU will be faster then CPU in this algorithm.
|
|
// It queries current active device.
|
|
static bool checkIfGpuCallReasonable();
|
|
|
|
int preset;
|
|
int ndisp;
|
|
int winSize;
|
|
|
|
// If avergeTexThreshold == 0 => post procesing is disabled
|
|
// If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
|
|
// SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
|
|
// i.e. input left image is low textured.
|
|
float avergeTexThreshold;
|
|
private:
|
|
oclMat minSSD, leBuf, riBuf;
|
|
};
|
|
|
|
class CV_EXPORTS StereoBeliefPropagation
|
|
{
|
|
public:
|
|
enum { DEFAULT_NDISP = 64 };
|
|
enum { DEFAULT_ITERS = 5 };
|
|
enum { DEFAULT_LEVELS = 5 };
|
|
static void estimateRecommendedParams(int width, int height, int &ndisp, int &iters, int &levels);
|
|
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
|
|
int iters = DEFAULT_ITERS,
|
|
int levels = DEFAULT_LEVELS,
|
|
int msg_type = CV_16S);
|
|
StereoBeliefPropagation(int ndisp, int iters, int levels,
|
|
float max_data_term, float data_weight,
|
|
float max_disc_term, float disc_single_jump,
|
|
int msg_type = CV_32F);
|
|
void operator()(const oclMat &left, const oclMat &right, oclMat &disparity);
|
|
void operator()(const oclMat &data, oclMat &disparity);
|
|
int ndisp;
|
|
int iters;
|
|
int levels;
|
|
float max_data_term;
|
|
float data_weight;
|
|
float max_disc_term;
|
|
float disc_single_jump;
|
|
int msg_type;
|
|
private:
|
|
oclMat u, d, l, r, u2, d2, l2, r2;
|
|
std::vector<oclMat> datas;
|
|
oclMat out;
|
|
};
|
|
|
|
class CV_EXPORTS StereoConstantSpaceBP
|
|
{
|
|
public:
|
|
enum { DEFAULT_NDISP = 128 };
|
|
enum { DEFAULT_ITERS = 8 };
|
|
enum { DEFAULT_LEVELS = 4 };
|
|
enum { DEFAULT_NR_PLANE = 4 };
|
|
static void estimateRecommendedParams(int width, int height, int &ndisp, int &iters, int &levels, int &nr_plane);
|
|
explicit StereoConstantSpaceBP(
|
|
int ndisp = DEFAULT_NDISP,
|
|
int iters = DEFAULT_ITERS,
|
|
int levels = DEFAULT_LEVELS,
|
|
int nr_plane = DEFAULT_NR_PLANE,
|
|
int msg_type = CV_32F);
|
|
StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane,
|
|
float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
|
|
int min_disp_th = 0,
|
|
int msg_type = CV_32F);
|
|
void operator()(const oclMat &left, const oclMat &right, oclMat &disparity);
|
|
int ndisp;
|
|
int iters;
|
|
int levels;
|
|
int nr_plane;
|
|
float max_data_term;
|
|
float data_weight;
|
|
float max_disc_term;
|
|
float disc_single_jump;
|
|
int min_disp_th;
|
|
int msg_type;
|
|
bool use_local_init_data_cost;
|
|
private:
|
|
oclMat u[2], d[2], l[2], r[2];
|
|
oclMat disp_selected_pyr[2];
|
|
oclMat data_cost;
|
|
oclMat data_cost_selected;
|
|
oclMat temp;
|
|
oclMat out;
|
|
};
|
|
|
|
// Implementation of the Zach, Pock and Bischof Dual TV-L1 Optical Flow method
|
|
//
|
|
// see reference:
|
|
// [1] C. Zach, T. Pock and H. Bischof, "A Duality Based Approach for Realtime TV-L1 Optical Flow".
|
|
// [2] Javier Sanchez, Enric Meinhardt-Llopis and Gabriele Facciolo. "TV-L1 Optical Flow Estimation".
|
|
class CV_EXPORTS OpticalFlowDual_TVL1_OCL
|
|
{
|
|
public:
|
|
OpticalFlowDual_TVL1_OCL();
|
|
|
|
void operator ()(const oclMat& I0, const oclMat& I1, oclMat& flowx, oclMat& flowy);
|
|
|
|
void collectGarbage();
|
|
|
|
/**
|
|
* Time step of the numerical scheme.
|
|
*/
|
|
double tau;
|
|
|
|
/**
|
|
* Weight parameter for the data term, attachment parameter.
|
|
* This is the most relevant parameter, which determines the smoothness of the output.
|
|
* The smaller this parameter is, the smoother the solutions we obtain.
|
|
* It depends on the range of motions of the images, so its value should be adapted to each image sequence.
|
|
*/
|
|
double lambda;
|
|
|
|
/**
|
|
* Weight parameter for (u - v)^2, tightness parameter.
|
|
* It serves as a link between the attachment and the regularization terms.
|
|
* In theory, it should have a small value in order to maintain both parts in correspondence.
|
|
* The method is stable for a large range of values of this parameter.
|
|
*/
|
|
double theta;
|
|
|
|
/**
|
|
* Number of scales used to create the pyramid of images.
|
|
*/
|
|
int nscales;
|
|
|
|
/**
|
|
* Number of warpings per scale.
|
|
* Represents the number of times that I1(x+u0) and grad( I1(x+u0) ) are computed per scale.
|
|
* This is a parameter that assures the stability of the method.
|
|
* It also affects the running time, so it is a compromise between speed and accuracy.
|
|
*/
|
|
int warps;
|
|
|
|
/**
|
|
* Stopping criterion threshold used in the numerical scheme, which is a trade-off between precision and running time.
|
|
* A small value will yield more accurate solutions at the expense of a slower convergence.
|
|
*/
|
|
double epsilon;
|
|
|
|
/**
|
|
* Stopping criterion iterations number used in the numerical scheme.
|
|
*/
|
|
int iterations;
|
|
|
|
bool useInitialFlow;
|
|
|
|
private:
|
|
void procOneScale(const oclMat& I0, const oclMat& I1, oclMat& u1, oclMat& u2);
|
|
|
|
std::vector<oclMat> I0s;
|
|
std::vector<oclMat> I1s;
|
|
std::vector<oclMat> u1s;
|
|
std::vector<oclMat> u2s;
|
|
|
|
oclMat I1x_buf;
|
|
oclMat I1y_buf;
|
|
|
|
oclMat I1w_buf;
|
|
oclMat I1wx_buf;
|
|
oclMat I1wy_buf;
|
|
|
|
oclMat grad_buf;
|
|
oclMat rho_c_buf;
|
|
|
|
oclMat p11_buf;
|
|
oclMat p12_buf;
|
|
oclMat p21_buf;
|
|
oclMat p22_buf;
|
|
|
|
oclMat diff_buf;
|
|
oclMat norm_buf;
|
|
};
|
|
// current supported sorting methods
|
|
enum
|
|
{
|
|
SORT_BITONIC, // only support power-of-2 buffer size
|
|
SORT_SELECTION, // cannot sort duplicate keys
|
|
SORT_MERGE,
|
|
SORT_RADIX // only support signed int/float keys(CV_32S/CV_32F)
|
|
};
|
|
//! Returns the sorted result of all the elements in input based on equivalent keys.
|
|
//
|
|
// The element unit in the values to be sorted is determined from the data type,
|
|
// i.e., a CV_32FC2 input {a1a2, b1b2} will be considered as two elements, regardless its
|
|
// matrix dimension.
|
|
// both keys and values will be sorted inplace
|
|
// Key needs to be single channel oclMat.
|
|
//
|
|
// Example:
|
|
// input -
|
|
// keys = {2, 3, 1} (CV_8UC1)
|
|
// values = {10,5, 4,3, 6,2} (CV_8UC2)
|
|
// sortByKey(keys, values, SORT_SELECTION, false);
|
|
// output -
|
|
// keys = {1, 2, 3} (CV_8UC1)
|
|
// values = {6,2, 10,5, 4,3} (CV_8UC2)
|
|
CV_EXPORTS void sortByKey(oclMat& keys, oclMat& values, int method, bool isGreaterThan = false);
|
|
/*!Base class for MOG and MOG2!*/
|
|
class CV_EXPORTS BackgroundSubtractor
|
|
{
|
|
public:
|
|
//! the virtual destructor
|
|
virtual ~BackgroundSubtractor();
|
|
//! the update operator that takes the next video frame and returns the current foreground mask as 8-bit binary image.
|
|
virtual void operator()(const oclMat& image, oclMat& fgmask, float learningRate);
|
|
|
|
//! computes a background image
|
|
virtual void getBackgroundImage(oclMat& backgroundImage) const = 0;
|
|
};
|
|
/*!
|
|
Gaussian Mixture-based Backbround/Foreground Segmentation Algorithm
|
|
|
|
The class implements the following algorithm:
|
|
"An improved adaptive background mixture model for real-time tracking with shadow detection"
|
|
P. KadewTraKuPong and R. Bowden,
|
|
Proc. 2nd European Workshp on Advanced Video-Based Surveillance Systems, 2001."
|
|
http://personal.ee.surrey.ac.uk/Personal/R.Bowden/publications/avbs01/avbs01.pdf
|
|
*/
|
|
class CV_EXPORTS MOG: public cv::ocl::BackgroundSubtractor
|
|
{
|
|
public:
|
|
//! the default constructor
|
|
MOG(int nmixtures = -1);
|
|
|
|
//! re-initiaization method
|
|
void initialize(Size frameSize, int frameType);
|
|
|
|
//! the update operator
|
|
void operator()(const oclMat& frame, oclMat& fgmask, float learningRate = 0.f);
|
|
|
|
//! computes a background image which are the mean of all background gaussians
|
|
void getBackgroundImage(oclMat& backgroundImage) const;
|
|
|
|
//! releases all inner buffers
|
|
void release();
|
|
|
|
int history;
|
|
float varThreshold;
|
|
float backgroundRatio;
|
|
float noiseSigma;
|
|
|
|
private:
|
|
int nmixtures_;
|
|
|
|
Size frameSize_;
|
|
int frameType_;
|
|
int nframes_;
|
|
|
|
oclMat weight_;
|
|
oclMat sortKey_;
|
|
oclMat mean_;
|
|
oclMat var_;
|
|
};
|
|
|
|
/*!
|
|
The class implements the following algorithm:
|
|
"Improved adaptive Gausian mixture model for background subtraction"
|
|
Z.Zivkovic
|
|
International Conference Pattern Recognition, UK, August, 2004.
|
|
http://www.zoranz.net/Publications/zivkovic2004ICPR.pdf
|
|
*/
|
|
class CV_EXPORTS MOG2: public cv::ocl::BackgroundSubtractor
|
|
{
|
|
public:
|
|
//! the default constructor
|
|
MOG2(int nmixtures = -1);
|
|
|
|
//! re-initiaization method
|
|
void initialize(Size frameSize, int frameType);
|
|
|
|
//! the update operator
|
|
void operator()(const oclMat& frame, oclMat& fgmask, float learningRate = -1.0f);
|
|
|
|
//! computes a background image which are the mean of all background gaussians
|
|
void getBackgroundImage(oclMat& backgroundImage) const;
|
|
|
|
//! releases all inner buffers
|
|
void release();
|
|
|
|
// parameters
|
|
// you should call initialize after parameters changes
|
|
|
|
int history;
|
|
|
|
//! here it is the maximum allowed number of mixture components.
|
|
//! Actual number is determined dynamically per pixel
|
|
float varThreshold;
|
|
// threshold on the squared Mahalanobis distance to decide if it is well described
|
|
// by the background model or not. Related to Cthr from the paper.
|
|
// This does not influence the update of the background. A typical value could be 4 sigma
|
|
// and that is varThreshold=4*4=16; Corresponds to Tb in the paper.
|
|
|
|
/////////////////////////
|
|
// less important parameters - things you might change but be carefull
|
|
////////////////////////
|
|
|
|
float backgroundRatio;
|
|
// corresponds to fTB=1-cf from the paper
|
|
// TB - threshold when the component becomes significant enough to be included into
|
|
// the background model. It is the TB=1-cf from the paper. So I use cf=0.1 => TB=0.
|
|
// For alpha=0.001 it means that the mode should exist for approximately 105 frames before
|
|
// it is considered foreground
|
|
// float noiseSigma;
|
|
float varThresholdGen;
|
|
|
|
//correspondts to Tg - threshold on the squared Mahalan. dist. to decide
|
|
//when a sample is close to the existing components. If it is not close
|
|
//to any a new component will be generated. I use 3 sigma => Tg=3*3=9.
|
|
//Smaller Tg leads to more generated components and higher Tg might make
|
|
//lead to small number of components but they can grow too large
|
|
float fVarInit;
|
|
float fVarMin;
|
|
float fVarMax;
|
|
|
|
//initial variance for the newly generated components.
|
|
//It will will influence the speed of adaptation. A good guess should be made.
|
|
//A simple way is to estimate the typical standard deviation from the images.
|
|
//I used here 10 as a reasonable value
|
|
// min and max can be used to further control the variance
|
|
float fCT; //CT - complexity reduction prior
|
|
//this is related to the number of samples needed to accept that a component
|
|
//actually exists. We use CT=0.05 of all the samples. By setting CT=0 you get
|
|
//the standard Stauffer&Grimson algorithm (maybe not exact but very similar)
|
|
|
|
//shadow detection parameters
|
|
bool bShadowDetection; //default 1 - do shadow detection
|
|
unsigned char nShadowDetection; //do shadow detection - insert this value as the detection result - 127 default value
|
|
float fTau;
|
|
// Tau - shadow threshold. The shadow is detected if the pixel is darker
|
|
//version of the background. Tau is a threshold on how much darker the shadow can be.
|
|
//Tau= 0.5 means that if pixel is more than 2 times darker then it is not shadow
|
|
//See: Prati,Mikic,Trivedi,Cucchiarra,"Detecting Moving Shadows...",IEEE PAMI,2003.
|
|
|
|
private:
|
|
int nmixtures_;
|
|
|
|
Size frameSize_;
|
|
int frameType_;
|
|
int nframes_;
|
|
|
|
oclMat weight_;
|
|
oclMat variance_;
|
|
oclMat mean_;
|
|
|
|
oclMat bgmodelUsedModes_; //keep track of number of modes per pixel
|
|
};
|
|
|
|
/*!***************Kalman Filter*************!*/
|
|
class CV_EXPORTS KalmanFilter
|
|
{
|
|
public:
|
|
KalmanFilter();
|
|
//! the full constructor taking the dimensionality of the state, of the measurement and of the control vector
|
|
KalmanFilter(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);
|
|
//! re-initializes Kalman filter. The previous content is destroyed.
|
|
void init(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);
|
|
|
|
const oclMat& predict(const oclMat& control=oclMat());
|
|
const oclMat& correct(const oclMat& measurement);
|
|
|
|
oclMat statePre; //!< predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
|
|
oclMat statePost; //!< corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
|
|
oclMat transitionMatrix; //!< state transition matrix (A)
|
|
oclMat controlMatrix; //!< control matrix (B) (not used if there is no control)
|
|
oclMat measurementMatrix; //!< measurement matrix (H)
|
|
oclMat processNoiseCov; //!< process noise covariance matrix (Q)
|
|
oclMat measurementNoiseCov;//!< measurement noise covariance matrix (R)
|
|
oclMat errorCovPre; //!< priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/
|
|
oclMat gain; //!< Kalman gain matrix (K(k)): K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
|
|
oclMat errorCovPost; //!< posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P'(k)
|
|
private:
|
|
oclMat temp1;
|
|
oclMat temp2;
|
|
oclMat temp3;
|
|
oclMat temp4;
|
|
oclMat temp5;
|
|
};
|
|
|
|
/*!***************K Nearest Neighbour*************!*/
|
|
class CV_EXPORTS KNearestNeighbour: public CvKNearest
|
|
{
|
|
public:
|
|
KNearestNeighbour();
|
|
~KNearestNeighbour();
|
|
|
|
bool train(const Mat& trainData, Mat& labels, Mat& sampleIdx = Mat().setTo(Scalar::all(0)),
|
|
bool isRegression = false, int max_k = 32, bool updateBase = false);
|
|
|
|
void clear();
|
|
|
|
void find_nearest(const oclMat& samples, int k, oclMat& lables);
|
|
|
|
private:
|
|
oclMat samples_ocl;
|
|
};
|
|
|
|
/*!*************** SVM *************!*/
|
|
class CV_EXPORTS CvSVM_OCL : public CvSVM
|
|
{
|
|
public:
|
|
CvSVM_OCL();
|
|
|
|
CvSVM_OCL(const cv::Mat& trainData, const cv::Mat& responses,
|
|
const cv::Mat& varIdx=cv::Mat(), const cv::Mat& sampleIdx=cv::Mat(),
|
|
CvSVMParams params=CvSVMParams());
|
|
CV_WRAP float predict( const int row_index, Mat& src, bool returnDFVal=false ) const;
|
|
CV_WRAP void predict( cv::InputArray samples, cv::OutputArray results ) const;
|
|
CV_WRAP float predict( const cv::Mat& sample, bool returnDFVal=false ) const;
|
|
float predict( const CvMat* samples, CV_OUT CvMat* results ) const;
|
|
|
|
protected:
|
|
float predict( const int row_index, int row_len, Mat& src, bool returnDFVal=false ) const;
|
|
void create_kernel();
|
|
void create_solver();
|
|
};
|
|
|
|
/*!*************** END *************!*/
|
|
}
|
|
}
|
|
#if defined _MSC_VER && _MSC_VER >= 1200
|
|
# pragma warning( push)
|
|
# pragma warning( disable: 4267)
|
|
#endif
|
|
#include "opencv2/ocl/matrix_operations.hpp"
|
|
#if defined _MSC_VER && _MSC_VER >= 1200
|
|
# pragma warning( pop)
|
|
#endif
|
|
|
|
#endif /* __OPENCV_OCL_HPP__ */
|